356 lines
11 KiB
C++
356 lines
11 KiB
C++
#include <linux/payload/PlocMpsocHelper.h>
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#include <filesystem>
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#include <fstream>
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#ifdef XIPHOS_Q7S
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#include "bsp_q7s/fs/FilesystemHelper.h"
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#endif
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#include "mission/utility/Timestamp.h"
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using namespace ploc;
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PlocMPSoCHelper::PlocMPSoCHelper(object_id_t objectId) : SystemObject(objectId) {
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spParams.buf = commandBuffer;
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spParams.maxSize = sizeof(commandBuffer);
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}
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PlocMPSoCHelper::~PlocMPSoCHelper() {}
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ReturnValue_t PlocMPSoCHelper::initialize() {
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#ifdef XIPHOS_Q7S
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sdcMan = SdCardManager::instance();
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if (sdcMan == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid SD Card Manager" << std::endl;
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return returnvalue::FAILED;
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}
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#endif
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHelper::performOperation(uint8_t operationCode) {
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ReturnValue_t result = returnvalue::OK;
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semaphore.acquire();
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while (true) {
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#if OBSW_THREAD_TRACING == 1
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trace::threadTrace(opCounter, "PLOC MPSOC Helper");
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#endif
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switch (internalState) {
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case InternalState::IDLE: {
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semaphore.acquire();
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break;
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}
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case InternalState::FLASH_WRITE: {
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result = performFlashWrite();
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if (result == returnvalue::OK) {
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triggerEvent(MPSOC_FLASH_WRITE_SUCCESSFUL);
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} else {
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triggerEvent(MPSOC_FLASH_WRITE_FAILED);
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}
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internalState = InternalState::IDLE;
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break;
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}
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default:
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sif::debug << "PlocMPSoCHelper::performOperation: Invalid state" << std::endl;
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break;
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}
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}
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}
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ReturnValue_t PlocMPSoCHelper::setComIF(DeviceCommunicationIF* communicationInterface_) {
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uartComIF = dynamic_cast<SerialComIF*>(communicationInterface_);
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if (uartComIF == nullptr) {
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sif::warning << "PlocMPSoCHelper::initialize: Invalid uart com if" << std::endl;
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void PlocMPSoCHelper::setComCookie(CookieIF* comCookie_) { comCookie = comCookie_; }
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void PlocMPSoCHelper::setSequenceCount(SourceSequenceCounter* sequenceCount_) {
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sequenceCount = sequenceCount_;
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}
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ReturnValue_t PlocMPSoCHelper::startFlashWrite(std::string obcFile, std::string mpsocFile) {
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ReturnValue_t result = returnvalue::OK;
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#ifdef XIPHOS_Q7S
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result = FilesystemHelper::checkPath(obcFile);
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if (result != returnvalue::OK) {
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return result;
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}
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result = FilesystemHelper::fileExists(mpsocFile);
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if (result != returnvalue::OK) {
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return result;
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}
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#endif
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#ifdef TE0720_1CFA
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if (not std::filesystem::exists(obcFile)) {
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sif::warning << "PlocMPSoCHelper::startFlashWrite: File " << obcFile << "does not exist"
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<< std::endl;
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return returnvalue::FAILED;
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}
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#endif
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flashWrite.obcFile = obcFile;
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flashWrite.mpsocFile = mpsocFile;
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internalState = InternalState::FLASH_WRITE;
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result = resetHelper();
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if (result != returnvalue::OK) {
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return result;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::resetHelper() {
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ReturnValue_t result = returnvalue::OK;
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semaphore.release();
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spParams.buf = commandBuffer;
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terminate = false;
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result = uartComIF->flushUartRxBuffer(comCookie);
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return result;
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}
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void PlocMPSoCHelper::stopProcess() { terminate = true; }
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ReturnValue_t PlocMPSoCHelper::performFlashWrite() {
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ReturnValue_t result = returnvalue::OK;
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result = flashfopen();
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if (result != returnvalue::OK) {
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return result;
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}
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uint8_t tempData[mpsoc::MAX_DATA_SIZE];
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std::ifstream file(flashWrite.obcFile, std::ifstream::binary);
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// Set position of next character to end of file input stream
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file.seekg(0, file.end);
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// tellg returns position of character in input stream
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size_t remainingSize = file.tellg();
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size_t dataLength = 0;
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size_t bytesRead = 0;
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while (remainingSize > 0) {
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if (terminate) {
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return returnvalue::OK;
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}
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if (remainingSize > mpsoc::MAX_DATA_SIZE) {
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dataLength = mpsoc::MAX_DATA_SIZE;
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} else {
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dataLength = remainingSize;
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}
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if (file.is_open()) {
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file.seekg(bytesRead, file.beg);
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file.read(reinterpret_cast<char*>(tempData), dataLength);
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bytesRead += dataLength;
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remainingSize -= dataLength;
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} else {
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return FILE_CLOSED_ACCIDENTALLY;
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}
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(*sequenceCount)++;
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mpsoc::TcFlashWrite tc(spParams, *sequenceCount);
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result = tc.buildPacket(tempData, dataLength);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handlePacketTransmission(tc);
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if (result != returnvalue::OK) {
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return result;
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}
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}
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result = flashfclose();
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if (result != returnvalue::OK) {
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return result;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::flashfopen() {
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ReturnValue_t result = returnvalue::OK;
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spParams.buf = commandBuffer;
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(*sequenceCount)++;
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mpsoc::FlashFopen flashFopen(spParams, *sequenceCount);
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result = flashFopen.createPacket(flashWrite.mpsocFile, mpsoc::FlashFopen::APPEND);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handlePacketTransmission(flashFopen);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHelper::flashfclose() {
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ReturnValue_t result = returnvalue::OK;
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spParams.buf = commandBuffer;
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(*sequenceCount)++;
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mpsoc::FlashFclose flashFclose(spParams, *sequenceCount);
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result = flashFclose.createPacket(flashWrite.mpsocFile);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handlePacketTransmission(flashFclose);
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHelper::handlePacketTransmission(ploc::SpTcBase& tc) {
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ReturnValue_t result = returnvalue::OK;
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result = sendCommand(tc);
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if (result != returnvalue::OK) {
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return result;
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}
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result = handleAck();
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if (result != returnvalue::OK) {
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return result;
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}
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result = handleExe();
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if (result != returnvalue::OK) {
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return result;
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}
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHelper::sendCommand(ploc::SpTcBase& tc) {
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ReturnValue_t result = returnvalue::OK;
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result = uartComIF->sendMessage(comCookie, tc.getFullPacket(), tc.getFullPacketLen());
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if (result != returnvalue::OK) {
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sif::warning << "PlocMPSoCHelper::sendCommand: Failed to send command" << std::endl;
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triggerEvent(MPSOC_SENDING_COMMAND_FAILED, result, static_cast<uint32_t>(internalState));
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return result;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::handleAck() {
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ReturnValue_t result = returnvalue::OK;
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result = handleTmReception(mpsoc::SIZE_ACK_REPORT);
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if (result != returnvalue::OK) {
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return result;
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}
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SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
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result = checkReceivedTm(tmPacket);
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if (result != returnvalue::OK) {
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return result;
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}
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uint16_t apid = tmPacket.getApid();
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if (apid != mpsoc::apid::ACK_SUCCESS) {
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handleAckApidFailure(apid);
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void PlocMPSoCHelper::handleAckApidFailure(uint16_t apid) {
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if (apid == mpsoc::apid::ACK_FAILURE) {
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triggerEvent(MPSOC_ACK_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Received acknowledgement failure "
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<< "report" << std::endl;
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} else {
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triggerEvent(MPSOC_ACK_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleAckApidFailure: Expected acknowledgement report "
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<< "but received space packet with apid " << std::hex << apid << std::endl;
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}
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}
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ReturnValue_t PlocMPSoCHelper::handleExe() {
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ReturnValue_t result = returnvalue::OK;
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result = handleTmReception(mpsoc::SIZE_EXE_REPORT);
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if (result != returnvalue::OK) {
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return result;
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}
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ploc::SpTmReader tmPacket(tmBuf.data(), tmBuf.size());
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result = checkReceivedTm(tmPacket);
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if (result != returnvalue::OK) {
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return result;
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}
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uint16_t apid = tmPacket.getApid();
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if (apid != mpsoc::apid::EXE_SUCCESS) {
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handleExeApidFailure(apid);
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return returnvalue::FAILED;
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}
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return returnvalue::OK;
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}
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void PlocMPSoCHelper::handleExeApidFailure(uint16_t apid) {
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if (apid == mpsoc::apid::EXE_FAILURE) {
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triggerEvent(MPSOC_EXE_FAILURE_REPORT, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Received execution failure "
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<< "report" << std::endl;
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} else {
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triggerEvent(MPSOC_EXE_INVALID_APID, apid, static_cast<uint32_t>(internalState));
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sif::warning << "PlocMPSoCHelper::handleExeApidFailure: Expected execution report "
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<< "but received space packet with apid " << std::hex << apid << std::endl;
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}
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}
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ReturnValue_t PlocMPSoCHelper::handleTmReception(size_t remainingBytes) {
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ReturnValue_t result = returnvalue::OK;
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size_t readBytes = 0;
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size_t currentBytes = 0;
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for (int retries = 0; retries < RETRIES; retries++) {
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result = receive(tmBuf.data() + readBytes, ¤tBytes, remainingBytes);
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if (result != returnvalue::OK) {
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return result;
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}
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readBytes += currentBytes;
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remainingBytes = remainingBytes - currentBytes;
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if (remainingBytes == 0) {
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break;
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}
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}
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if (remainingBytes != 0) {
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sif::warning << "PlocMPSoCHelper::handleTmReception: Failed to receive reply" << std::endl;
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triggerEvent(MPSOC_MISSING_EXE, remainingBytes, static_cast<uint32_t>(internalState));
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return returnvalue::FAILED;
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}
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return result;
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}
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ReturnValue_t PlocMPSoCHelper::checkReceivedTm(SpTmReader& reader) {
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ReturnValue_t result = reader.checkSize();
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if (result != returnvalue::OK) {
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sif::error << "PlocMPSoCHelper::handleTmReception: Size check on received TM failed"
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<< std::endl;
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triggerEvent(MPSOC_TM_SIZE_ERROR);
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return result;
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}
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reader.checkCrc();
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if (result != returnvalue::OK) {
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sif::warning << "PlocMPSoCHelper::handleTmReception: CRC check failed" << std::endl;
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triggerEvent(MPSOC_TM_CRC_MISSMATCH, *sequenceCount);
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return result;
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}
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(*sequenceCount)++;
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uint16_t recvSeqCnt = reader.getSequenceCount();
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if (recvSeqCnt != *sequenceCount) {
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triggerEvent(MPSOC_HELPER_SEQ_CNT_MISMATCH, *sequenceCount, recvSeqCnt);
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*sequenceCount = recvSeqCnt;
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}
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return returnvalue::OK;
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}
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ReturnValue_t PlocMPSoCHelper::receive(uint8_t* data, size_t* readBytes, size_t requestBytes) {
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ReturnValue_t result = returnvalue::OK;
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uint8_t* buffer = nullptr;
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result = uartComIF->requestReceiveMessage(comCookie, requestBytes);
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if (result != returnvalue::OK) {
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sif::warning << "PlocMPSoCHelper::receive: Failed to request reply" << std::endl;
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triggerEvent(MPSOC_HELPER_REQUESTING_REPLY_FAILED, result,
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static_cast<uint32_t>(static_cast<uint32_t>(internalState)));
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return returnvalue::FAILED;
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}
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result = uartComIF->readReceivedMessage(comCookie, &buffer, readBytes);
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if (result != returnvalue::OK) {
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sif::warning << "PlocMPSoCHelper::receive: Failed to read received message" << std::endl;
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triggerEvent(MPSOC_HELPER_READING_REPLY_FAILED, result, static_cast<uint32_t>(internalState));
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return returnvalue::FAILED;
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}
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if (*readBytes > 0) {
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std::memcpy(data, buffer, *readBytes);
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}
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return result;
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}
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